A passivity-based controller for motion tracking and damping assignment for compliantly actuated robots.
Manuel KepplerDominic LakatosChristian OttAlin Albu-SchäfferPublished in: CDC (2016)
Keyphrases
- motion tracking
- open loop
- impedance control
- closed loop
- manipulation tasks
- control strategy
- trajectory tracking
- sliding mode
- force control
- control law
- control system
- degrees of freedom
- markerless
- control scheme
- motion analysis
- dynamic model
- physical constraints
- motion planning
- mobile robot
- autonomous robots
- optimal control
- lyapunov function
- feedback control
- human motion tracking
- variable structure
- robotic systems
- image sequences
- nonlinear systems
- control method
- control algorithm
- body parts
- mathematical model
- sliding mode control
- volumetric reconstruction
- inverted pendulum
- pid controller
- humanoid robot
- tagged mri
- pose estimation
- fuzzy control
- three dimensional